Muv

.gitmodules

@@ -1,15 +1,15 @@
 [submodule "Multiverse-Launch"]
 	path = Multiverse-Launch
-	url = https://github.com/Multiverse-Framework/Multiverse-Launch.git
+	url = https://github.com/mitsav01/Multiverse-Launch.git
 [submodule "Multiverse-Resources"]
 	path = Multiverse-Resources
-	url = https://github.com/Multiverse-Framework/Multiverse-Resources.git
+	url = https://github.com/mitsav01/Multiverse-Resources.git
 [submodule "Multiverse-Utilities"]
 	path = Multiverse-Utilities
-	url = https://github.com/Multiverse-Framework/Multiverse-Utilities.git
+	url = https://github.com/mitsav01/Multiverse-Utilities.git
 [submodule "Multiverse-Knowledge"]
 	path = Multiverse-Knowledge
-	url = https://github.com/Multiverse-Framework/Multiverse-Knowledge.git
+	url = https://github.com/mitsav01/Multiverse-Knowledge.git
 [submodule "Multiverse-Parser"]
 	path = Multiverse-Parser
-	url = https://github.com/Multiverse-Framework/Multiverse-Parser.git
+	url = https://github.com/mitsav01/Multiverse-Parser.git

README.md

@@ -1,5 +1,123 @@
 # Multiverse
 
+# Multiverse-Framework
+
+A powerful framework for robotics and 3D scene representation leveraging OpenUSD.
+
+---
+
+## Features
+
+- Modular robotics control and simulation  
+- Integration with OpenUSD for advanced 3D scene handling  
+- Flexible architecture for extension and customization  
+
+---
+
+## Installation Guide
+
+Follow these steps to install the Multiverse-Framework and its dependencies, including OpenUSD.
+
+### Prerequisites
+
+Make sure you have the following installed:
+
+- Python 3.8+ and pip  
+- Git  
+- CMake (3.18 or higher)  
+- A C++ compiler (gcc/g++ recommended)  
+- Python development headers (e.g., `python3-dev` on Ubuntu)  
+- Additional dependencies like Boost, TBB, etc., required by OpenUSD (see below)  
+
+---
+
+### Step 0: Create a virtual environment (recommended)
+
+It is highly recommended to use virtual environment for Multiverse Framework.
+
+```bash
+python3 -m venv venv
+source path/to/venv/bin/activate
+echo 'alias activate_venv='source path/to/venv/bin/activate' >> ~/.bashrc 
+```
+
+### Step 1: Clone the repository
+
+```bash
+git clone https://github.com/mitsav01/Multiverse-Framework.git --recursive
+cd Multiverse-Framework
+```
+
+### Step 2: Install required Python packages
+
+```bash
+pip install -r requirements.txt
+```
+
+### Step 3: Install OpenUSD
+
+Although, it is given in setup.sh file to clone and install OpenUSD repo. I've cloned and installed repo by myself.
+
+```bash
+git clone https://github.com/PixarAnimationStudios/OpenUSD.git 
+mkdir OpenUSD/install
+chmod -R +x OpenUSD
+```
+To integrate Multiverse with OpenUSD, we need to specify OpenUSD's source and install directory. I did it by specifying them in `.bashrc` file.
+
+```bash
+echo 'export USD_SRC_DIR=path/to/OpenUSD' >> ~/.bashrc 
+echo 'export USD_INSTALL_DIR=path/to/OpenUSD/install' >> ~/.bashrc
+```
+### Step 4: Running Installation script
+
+Now, after following this steps.
+We can go to any individual package of Multiverse and execute ```install.sh```
+I did it with ```Multiverse-Knowledge```.
+
+```bash
+cd path/to/Multiverse/Multiverse-Knowledge
+./install.sh
+```
+The installation of ```OpenUSD``` will take really long (~15-20 minutes). At the end of installation, we'll have an output showing that Installation finished successfully and we'll get a message to add some stuffs to ```PATH``` and ```PYTHONPATH``` variable. 
+
+```bash
+echo 'export PATH=$PATH:path/to/OpenUSD/install/bin' >> ~/.bashrc
+echo 'export PYTHONPATH=$PYTHONPATH:path/to/OpenUSD/install/lib/python' >> ~/.bashrc
+```
+### Step 5: Building workspace
+
+It is also important to build and source `ros_ws` or `ros2_ws` everytime, we use this framework.
+We can build the `ros2_ws` with below command:
+
+```bash
+cd /path/to/Multiverse/Multiverse-Launch/src/multiverse_connectors/multiverse_ros_connector/ros_ws/multiverse_ws2
+colcon build --symlink-install
+source install/setup.bash
+````
+In order to make it easy, we can add following line to `~/.bashrc`:
+
+```bash
+source /path/to/Multiverse/Multiverse-Launch/src/multiverse_connectors/multiverse_ros_connector/ros_ws/multiverse_ws2/install/setup.bash
+```
+
+### Step 6: Verifying Installation
+
+After successful execution of ```install.sh```, we can verify the installation of 'Multiverse' framework using below command:
+
+```bash
+cd /path/to/Multiverse/Multiverse-Launch/bin
+multiverse_launch
+```
+You'll see four different windows showing an example of 'Table with ball and Square' in simulation. 
+Note: In order to save the time to write whole command to launch `multiverse_launch`, we can use following command.
+
+```bash
+echo 'alias multiverse_launch='bash /path/to/Multiverse/Multiverse-Launch/bin/multiverse_launch'' >> ~/.bashrc
+```
+Everytime, we can launch 'Multiverse' just by writing `multiverse_launch` in the terminal.
+
+
 ## Citation
 
 If you find this software helpful, please cite it as follows:

requirements.txt

@@ -0,0 +1,72 @@
+# ===============================
+# Dependency Resolution & Packaging
+# ===============================
+pip
+setuptools             # For building/installing Python packages
+packaging              # Handles version and package specifiers
+typeguard              # Runtime type checking
+pyyaml                 # YAML parsing
+attrs                 # Class attribute management
+distro                # Linux distro info
+zipp                  # Zip file utilities
+future                # Python 2/3 compatibility
+
+# ===============================
+# USD & GUI Dependencies
+# ===============================
+pyopengl               # OpenGL interface
+jinja2                 # Templating engine (lowercase variant)
+Jinja2                 # Templating engine (capitalized variant — kept in case some tool uses it)
+pyside6                # Qt for GUI
+pyside2                # Qt for GUI (older version)
+PyQt5                  # Alternative Qt bindings
+docutils               # Used by Sphinx, documentation tools
+tornado                # Web server (used by some USD GUI tools)
+wheel                  # For building wheels
+empy==3.3.4            # Required for ROS build system (template system)
+
+# ===============================
+# Knowledge & Ontology
+# ===============================
+owlready2              # Ontology management
+rdflib                 # RDF graph handling
+lxml                   # XML/HTML processing
+lark-parser            # Parsing tool (used in grammar-based systems)
+
+# ===============================
+# Robotics/ROS Dependencies
+# ===============================
+urdf_parser_py         # URDF parsing
+rospkg                 # ROS package utility
+rosdistro              # ROS distro information
+
+# ===============================
+# Mujoco & Physics Sim
+# ===============================
+mujoco==3.3.2          # Mujoco physics engine
+mujoco-mjx==3.3.2      # Mujoco MJX for enhanced simulation
+
+# ===============================
+# Data Science & ML Utilities
+# ===============================
+numpy
+pandas
+scipy
+plotly
+opencv-python
+tqdm
+requests
+pillow
+Pillow                 # Duplicate kept for compatibility — safe to keep one
+
+# ===============================
+# Multiverse Parser / Custom Tools
+# ===============================
+#pyfactxx               # Custom or lesser-known package (verify source)
+
+# ===============================
+# Testing
+# ===============================
+pytest
+pytest-cov
+coverage